EP2722721A1 - Steuerungsassistenzverfahren eines Luftfahrzeugs bei der Landung, und Steuerungsassistenzsystem, das in der Lage ist, dieses Verfahren umzusetzen - Google Patents

Steuerungsassistenzverfahren eines Luftfahrzeugs bei der Landung, und Steuerungsassistenzsystem, das in der Lage ist, dieses Verfahren umzusetzen Download PDF

Info

Publication number
EP2722721A1
EP2722721A1 EP13189235.8A EP13189235A EP2722721A1 EP 2722721 A1 EP2722721 A1 EP 2722721A1 EP 13189235 A EP13189235 A EP 13189235A EP 2722721 A1 EP2722721 A1 EP 2722721A1
Authority
EP
European Patent Office
Prior art keywords
aircraft
target
landing
pilot
screen
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP13189235.8A
Other languages
English (en)
French (fr)
Other versions
EP2722721B1 (de
Inventor
Guilhem Puyou
Fabien Perrin
Matthias Eberle
Matthieu Barba
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus Operations SAS
Original Assignee
Airbus Operations SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Airbus Operations SAS filed Critical Airbus Operations SAS
Publication of EP2722721A1 publication Critical patent/EP2722721A1/de
Application granted granted Critical
Publication of EP2722721B1 publication Critical patent/EP2722721B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
    • G08G5/025—Navigation or guidance aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D2045/008—Devices for detecting or indicating hard landing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface

Definitions

  • the aircraft For such a landing the aircraft is generally guided automatically, according to its flight plan, to a height called “decision height", and if visibility is sufficient at this decision height, the pilot controls the aircraft manually until landing.
  • the present invention relates more particularly to the phase corresponding to the flight of the aircraft between its passage at this decision height and its landing.
  • the systems of the aircraft perform its guidance along a predetermined trajectory using either an external relative positioning system (in particular of the ILS type) which provides a trajectory deviation directly, ie absolute position information of the aircraft available on board the aircraft as well as the geographical coordinates of the runway.
  • This absolute position of the aircraft can in particular be provided by an inertial unit or by a VOR type system ("Very High Frequency Omnidirectional Range” in English) or GNSS ("Global Navigation Satellite System” type), in particular GPS type ("Global Positioning System” in English) or Galileo.
  • GNSS Global Navigation Satellite System
  • Such a GNSS system may or may not be augmented by local registration, for example by using a Wide Area Augmentation System (WAAS) network.
  • WAAS Wide Area Augmentation System
  • the document US5,593,114A describes a landing aid system for an aircraft in which a pilot has means to display a cursor on a screen where an airstrip is also displayed.
  • This slider comprises a cruciform symbol corresponding to a desired point of contact of the aircraft with the ground, as well as a line corresponding to a taxiing trajectory of the aircraft.
  • the pilot has an interface to adjust the position and orientation of the cursor on the airstrip.
  • the system also displays a symbol corresponding to the speed vector of the aircraft. To be able to land on the runway, the pilot must align the symbol representing the speed vector with the cruciform symbol of the cursor. This system therefore helps the pilot during landing by displaying the cursor on which he must align the symbol representing the speed vector.
  • the movements of the aircraft during landing have the effect of producing movements of the cursor relative to the airstrip on the screen. This occurs in particular when the pilot is maneuvering the aircraft so as to try to align the symbol representing the velocity vector with the cruciform symbol of the cursor. Therefore, depending on the movements of the aircraft, the pilot is brought, several times during landing, having to change the setting of the position and the cursor orientation by means of said interface. This is an additional workload for the pilot who must continuously monitor the position and orientation of the cursor relative to the runway and modify them if necessary. Moreover, such a mode of operation is not compatible with an automatic landing of the aircraft since the pilot must change the cursor settings several times during landing.
  • This method therefore allows a pilot to define a value of the target in superposition of the view from outside the aircraft, then to validate this value.
  • the target is positioned on the screen relative to the view from the outside of the aircraft, therefore relative to the landing zone.
  • This view from the outside of the aircraft being a view from the current position of the aircraft, the value of the target validated by the pilot is therefore referenced with respect to the current position of the aircraft. Therefore the trajectory determined in step B) allows the aircraft to land in accordance with this target, without being disturbed by the position error of the aircraft when it is at the decision height.
  • the trajectory being memorized, it suffices to guide the aircraft along it so as to make a landing in accordance with the value of the target validated by the pilot.
  • This memorized trajectory is insensitive to the movements of the aircraft after said validation of a value of the target by the pilot.
  • This trajectory extends between the current position of the aircraft during the validation of the target by the pilot in step A3) and the position of the target validated by the pilot.
  • the target comprises a ground target point.
  • it further comprises an axis of a ground taxiing path and / or the FPA slope ("Flight Path Angle") of the last approach segment of the ground target point.
  • the screen is a head-up display device type HUD ("Head Up Display” in English).
  • HUD Head Up Display
  • the view from the outside of the aircraft corresponds to what the pilot sees, outside the aircraft, when he looks through this HUD type screen. It is therefore not necessary to acquire and display this view using means on board the aircraft.
  • the landing zone on the ground corresponds to an airstrip.
  • the value of the target displayed in step A1) is determined according to characteristics of the landing runway. These characteristics can in particular correspond to coordinates of the airstrip.
  • the value of the target displayed in step A1) is determined according to the current route of the aircraft.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
EP13189235.8A 2012-10-22 2013-10-18 Steuerungsassistenzverfahren eines Luftfahrzeugs bei der Landung, und Steuerungsassistenzsystem, das in der Lage ist, dieses Verfahren umzusetzen Active EP2722721B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1260036A FR2997066B1 (fr) 2012-10-22 2012-10-22 Procede d'aide au pilotage d'un aeronef lors d'un atterrissage et systeme d'aide au pilotage apte a mettre en œuvre ce procede

Publications (2)

Publication Number Publication Date
EP2722721A1 true EP2722721A1 (de) 2014-04-23
EP2722721B1 EP2722721B1 (de) 2016-11-30

Family

ID=47425135

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13189235.8A Active EP2722721B1 (de) 2012-10-22 2013-10-18 Steuerungsassistenzverfahren eines Luftfahrzeugs bei der Landung, und Steuerungsassistenzsystem, das in der Lage ist, dieses Verfahren umzusetzen

Country Status (3)

Country Link
US (1) US9377782B2 (de)
EP (1) EP2722721B1 (de)
FR (1) FR2997066B1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3110985A1 (fr) * 2020-05-29 2021-12-03 Airbus Interface homme-machine d’un aéronef en phase de décollage ou d’atterrissage
CN114519946A (zh) * 2022-02-15 2022-05-20 安胜（天津）飞行模拟系统有限公司 一种空中指引显示方法、装置、设备以及存储介质

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9098999B2 (en) * 2013-09-13 2015-08-04 The Boeing Company Systems and methods for assuring the accuracy of a synthetic runway presentation
US10514707B1 (en) * 2014-06-26 2019-12-24 Rockwell Collins, Inc. Flight phase stability indicator system and method
GB2529684A (en) * 2014-08-29 2016-03-02 Bae Systems Plc Image display
GB2529682A (en) 2014-08-29 2016-03-02 Bae Systems Plc Image display
DE102014014446A1 (de) * 2014-09-26 2016-03-31 Airbus Defence and Space GmbH Redundantes Bestimmen von Positionsdaten für ein automatisches Landesystem
FR3030033B1 (fr) * 2014-12-15 2016-12-16 Thales Sa Dispositif d'affichage et de mise a jour d'un motif de trajectoire aerienne en regard d'une zone au sol, notamment pour une mission de largage
FR3044808B1 (fr) * 2015-12-03 2021-01-15 Airbus Operations Sas Procede et systeme d'aide a l'atterrissage d'un aeronef
FR3044807B1 (fr) * 2015-12-03 2017-11-24 Airbus Operations Sas Procede et systeme d'aide a l'atterrissage d'un aeronef
FR3044809B1 (fr) * 2015-12-03 2017-11-24 Airbus Operations Sas Procede et systeme d'aide a l'atterrissage d'un aeronef.
ES2900737T3 (es) * 2016-12-21 2022-03-18 Safran Landing Systems Uk Ltd Montaje de aeronave y método

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5593114A (en) 1994-04-19 1997-01-14 Mcdonnell Douglas Corporation Synthetic vision automatic landing system
FR2752051A1 (fr) * 1996-08-02 1998-02-06 Sextant Avionique Dispositif d'assistance au guidage d'un vehicule sur une trajectoire
FR2896073A1 (fr) * 2006-01-11 2007-07-13 Airbus France Sas Systeme de pilotage d'un aeronef, au moins pour piloter l'aeronef lors d'une approche autonome en vue d'un atterrissage.
WO2009042309A2 (en) * 2007-08-17 2009-04-02 Sikorsky Aircraft Corporation Stabilized approach to a point in degraded visual environment

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8010245B2 (en) * 2008-09-30 2011-08-30 Honeywell International Inc. Aircraft systems and methods for displaying a touchdown point
US8589071B2 (en) * 2011-08-15 2013-11-19 Honeywell International Inc. Aircraft vision system including a runway position indicator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5593114A (en) 1994-04-19 1997-01-14 Mcdonnell Douglas Corporation Synthetic vision automatic landing system
FR2752051A1 (fr) * 1996-08-02 1998-02-06 Sextant Avionique Dispositif d'assistance au guidage d'un vehicule sur une trajectoire
FR2896073A1 (fr) * 2006-01-11 2007-07-13 Airbus France Sas Systeme de pilotage d'un aeronef, au moins pour piloter l'aeronef lors d'une approche autonome en vue d'un atterrissage.
WO2009042309A2 (en) * 2007-08-17 2009-04-02 Sikorsky Aircraft Corporation Stabilized approach to a point in degraded visual environment

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3110985A1 (fr) * 2020-05-29 2021-12-03 Airbus Interface homme-machine d’un aéronef en phase de décollage ou d’atterrissage
US11639235B2 (en) 2020-05-29 2023-05-02 Airbus (S.A.S.) Human-machine interface of an aircraft in take-off or landing phase
CN114519946A (zh) * 2022-02-15 2022-05-20 安胜（天津）飞行模拟系统有限公司 一种空中指引显示方法、装置、设备以及存储介质
CN114519946B (zh) * 2022-02-15 2023-09-12 安胜（天津）飞行模拟系统有限公司 一种空中指引显示方法、装置、设备以及存储介质

Also Published As

Publication number Publication date
US20140114506A1 (en) 2014-04-24
US9377782B2 (en) 2016-06-28
FR2997066A1 (fr) 2014-04-25
FR2997066B1 (fr) 2016-01-29
EP2722721B1 (de) 2016-11-30

Similar Documents

Publication Publication Date Title
EP2722721B1 (de) Steuerungsassistenzverfahren eines Luftfahrzeugs bei der Landung, und Steuerungsassistenzsystem, das in der Lage ist, dieses Verfahren umzusetzen
EP1614086B1 (de) Sicheres interaktives 3d-navigationsverfahren und einrichtung
EP1891618B1 (de) Verfahren und system zur hilfe bei der flugkontrolle eines tieffliegenden flugzeugs
EP0916073B1 (de) Hilfsvorrichtung zur lenkung eines fahrzeugs entlang einer trajektorie
FR3009117A1 (fr) Procede et systeme d'atterrissage automatique autonome
EP2600330B1 (de) System und Verfahren zur Ausrichtung von Flugzeug- und Landebahnrichtungen während des Rollens beim Start
EP1464576B1 (de) Verfahren und Einrichtung zur Steuerungshilfe eines Flugzeugs während der Landung
EP1999435B1 (de) Flugzeugleitsystem
EP1987503A1 (de) Vorrichtung zur unterstützung der flugzeuglenkung in der landeanflugsphase zum landen
FR2896071A1 (fr) Procede et dispositif d'aide au pilotage d'un aeronef lors d'une approche autonome.
EP0722132B1 (de) Verfahren zur Steuerung eines Flugzeuges durch das Folgen auf einer, mittels Passierpunkten bestimmten horizontalen Flugbahn
EP1971973A2 (de) System zur steuerung eines flugzeuges
FR2847553A1 (fr) Dispositif d'aide a l'interception par un aeronef d'un segment d'une trajectoire situee dans un plan horizontal et systeme d'aide a l'interception et au suivi d'un tel segment
FR2949897A1 (fr) Procede d'assistance au pilotage d'un aeronef et dispositif correspondant.
FR2783500A1 (fr) Dispositif d'aide au pilotage d'un aeronef, notamment a voilure tournante et en particulier un helicoptere
FR2990527A1 (fr) Procede et dispositif d'aide a la gestion du vol d'un aeronef lors d'une phase d'atterrissage.
FR2904706A1 (fr) Procede et dispositif pour determiner une hauteur de decision lors d'une approche autonome d'un aeronef.
EP3216021A1 (de) Verfahren und vorrichtung zum lenken eines flugzeugs
CA2160759C (fr) Dispositif optoelectronique d'aide au pilotage d'un aeronef
US7584027B2 (en) Aircraft navigation aid method and corresponding device
FR3017703A1 (fr) Procede et systeme de determination de la compatibilite d'un guidage angulaire avec une approche
CA2460605C (fr) Procede et dispositif pour determiner au moins une information de position verticale d'un aeronef
WO2021228923A1 (fr) Dispositif électronique, et procédé, de guidage du pilote dans le pilotage d'un aéronef lors de l'atterrissage en présence de vent de travers
FR3089955A1 (fr) Procede et systeme de guidage d’aide au suivi d’une trajectoire pour un pilotage au vecteur-vitesse d’un aeronef
WO2017194847A1 (fr) Pilotage automatique d'un aéronef à déconnexion différée

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

17P Request for examination filed

Effective date: 20141023

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20160817

RIN1 Information on inventor provided before grant (corrected)

Inventor name: PERRIN, FABIEN

Inventor name: EBERLE, MATTHIAS

Inventor name: PUYOU, GUILHEM

Inventor name: BARBA, MATTHIEU

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 850371

Country of ref document: AT

Kind code of ref document: T

Effective date: 20161215

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602013014659

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20161130

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 850371

Country of ref document: AT

Kind code of ref document: T

Effective date: 20161130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170228

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170301

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170330

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170228

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602013014659

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 5

26N No opposition filed

Effective date: 20170831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171031

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171018

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171031

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20171031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 6

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171018

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20131018

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161130

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170330

REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Ref document number: 602013014659

Country of ref document: DE

Free format text: PREVIOUS MAIN CLASS: G05D0001060000

Ipc: G05D0001485000

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20231020

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20231025

Year of fee payment: 11

Ref country code: DE

Payment date: 20231020

Year of fee payment: 11